US20210033419A1 - Remote operation system, computer readable storage medium and vehicle - Google Patents

Remote operation system, computer readable storage medium and vehicle Download PDF

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Publication number
US20210033419A1
US20210033419A1 US16/880,016 US202016880016A US2021033419A1 US 20210033419 A1 US20210033419 A1 US 20210033419A1 US 202016880016 A US202016880016 A US 202016880016A US 2021033419 A1 US2021033419 A1 US 2021033419A1
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United States
Prior art keywords
remote operation
information
route
communication
communication quality
Prior art date
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Abandoned
Application number
US16/880,016
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English (en)
Inventor
Yosuke Tokuda
Masahiro Nishio
Shuichiro Takahashi
Haruka YANO
Taichi Amakasu
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Toyota Motor Corp
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Toyota Motor Corp
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Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA reassignment TOYOTA JIDOSHA KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: AMAKASU, TAICHI, TAKAHASHI, SHUICHIRO, NISHIO, MASAHIRO, TOKUDA, YOSUKE, YANO, HARUKA
Publication of US20210033419A1 publication Critical patent/US20210033419A1/en
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • G01C21/3614—Destination input or retrieval through interaction with a road map, e.g. selecting a POI icon on a road map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
    • G08G1/096816—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard where the complete route is transmitted to the vehicle at once
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • G01C21/3617—Destination input or retrieval using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G08G1/096838—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the user preferences are taken into account or the user selects one route out of a plurality
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

Definitions

  • the present disclosure relates to a remote operation system, a computer readable storage medium, and a vehicle.
  • the remote operation system of WO No. 2018/87879 avoids routes on which anticipated communication problem positions are present. Namely, communication quality along the route is prioritized over the journey time to a destination. There is accordingly a possibility that the journey time to the destination might be longer than expected.
  • the present disclosure provides a remote operation system, a computer readable storage medium, and a vehicle capable of maintaining travel stability at positions where communication quality is low, while prioritizing journey time to a destination.
  • a remote operation system of a first aspect includes a processor that is configured to acquire position information and communication quality information from each of plural vehicles on a regular basis, create position-specific communication quality information in which the position information and the communication quality information are associated with each other, create communication-prioritized route information representing a route linking together positions where communication quality is a predetermined value or greater based on the position-specific communication quality information, and also to create time-prioritized route information representing a route with a shorter journey time to a destination than the communication-prioritized route, supply the communication-prioritized route information and the time-prioritized route information to an occupant of a remote operation target vehicle, instruct a remote operation station as to a selected route selected by the occupant based on the communication-prioritized route information and the time-prioritized route information, and execute a predetermined countermeasure enabling travel stability to be maintained at a position where communication quality is below a predetermined value.
  • the occupant of the remote operation target vehicle is supplied with the communication-prioritized route information representing a route linking together positions where the communication quality is the predetermined value or greater.
  • the occupant is also supplied with the time-prioritized route information representing a route with a shorter journey time to the destination.
  • the occupant selects a route based on either one of the communication-prioritized route information or the time-prioritized route information, and the remote operation station is instructed of the selected route thus selected through the processor.
  • the processor executes the predetermined countermeasure, thereby enabling travel stability to be maintained.
  • a remote operation system of a second aspect is the remote operation system of the first aspect, wherein at least one of switching a communication type or switching to manual driving is selected as the countermeasure.
  • the processor is capable of switching the communication type when the remote operation target vehicle travels through positions where the communication quality is below the predetermined value. Namely, switching to a communication type capable of securing communication quality enables stable travel to be maintained.
  • the processor is also capable of switching to manual driving when the remote operation target vehicle travels through positions where the communication quality is below the predetermined value. This enables stable travel to be secured even if communication cuts out.
  • a non-transitory computer readable storage medium of a third aspect storing a program that causes a computer to acquire position information and communication quality information from each of plural vehicles on a regular basis, create position-specific communication quality information in which the position information and the communication quality information are associated with each other, create communication-prioritized route information representing a route linking together positions where communication quality is a predetermined value or greater based on the position-specific communication quality information, and also to create time-prioritized route information representing a route with a shorter journey time to a destination than the communication-prioritized route, supply the communication-prioritized route information and the time-prioritized route information to an occupant of a remote operation target vehicle, instruct a remote operation station as to a selected route selected by the occupant based on the communication-prioritized route information and the time-prioritized route information, execute a predetermined countermeasure enabling travel stability to be maintained at a position where communication quality is below a predetermined value.
  • the occupant of the remote operation target vehicle is supplied with the communication-prioritized route information representing a route linking together positions where the communication quality is the predetermined value or greater.
  • the occupant is also supplied with the time-prioritized route information representing a route with a shorter journey time to the destination.
  • the occupant selects a route based on either one of the communication-prioritized route information or the time-prioritized route information, and the remote operation station is instructed of the selected route thus selected through the selected route instruction section.
  • the execution section executes the predetermined countermeasure, thereby enabling travel stability to be maintained.
  • a vehicle of a fourth aspect includes a communication device configured to receive remote operation information created by a remote operation station, a drive device operated based on the remote operation information, and an input device that enables selection of either a communication-prioritized route representing a route linking together positions where communication quality is a predetermined value or greater or a time-prioritized route representing a route with a shorter journey time to a destination than the communication-prioritized route, and that enables selection of a predetermined countermeasure enabling travel stability to be maintained at a position where communication quality is below a predetermined value.
  • the drive device is operated based on the remote operation information received by the communication device.
  • the predetermined countermeasure enabling travel stability to be maintained when the vehicle travels through a position where communication quality is below the predetermined value can be selected using the input device.
  • the present disclosure enables travel stability to be maintained at positions where communication quality is low, while prioritizing journey time to a destination.
  • FIG. 1 is a configuration diagram illustrating an overall configuration of a remote operation system according to an exemplary embodiment
  • FIG. 2 is a functional block diagram illustrating a central server of a remote operation system according to an exemplary embodiment
  • FIG. 3 is a schematic diagram illustrating an example of configuration of a communication quality information database according to an exemplary embodiment
  • FIG. 4A is a flowchart illustrating part of an example of remote operation processing according to an exemplary embodiment
  • FIG. 4B is a flowchart illustrating another part of an example of remote operation processing according to an exemplary embodiment
  • FIG. 5 is a plan view illustrating an example of position-specific communication quality information, communication-prioritized route information, and time-prioritized route information displayed on a display section of a remote operation target vehicle according to an exemplary embodiment
  • FIG. 6 is a plan view illustrating an example of a selected route displayed on a display section of a remote operation station according to an exemplary embodiment
  • FIG. 7 is a plan view illustrating another example of a selected route displayed on a display section of a remote operation station according to an exemplary embodiment.
  • FIG. 1 illustrates an overall configuration of a remote operation system 80 according to an exemplary embodiment of the present disclosure.
  • the remote operation system 80 is a system employed in remote operation of plural vehicles M.
  • the remote operation system 80 is configured including the plural vehicles M, plural remote operation stations N for remote operation of the plural vehicles M, and a central server 10 that controls remote operation of the vehicles M by the remote operation stations N.
  • the vehicles M, the remote operation stations N, and the central server 10 are each capable of accessing a network 70 .
  • a vehicle configuring a remote operation target of a remote operation station N is also referred to as the remote operation target vehicle M 1 where necessary.
  • vehicles other than the remote operation target vehicle M 1 are also referred to as information acquisition vehicles M 2 .
  • explanation regarding the vehicles M is applicable to both the remote operation target vehicle M 1 and the information acquisition vehicles M 2 .
  • the central server 10 includes a central processing unit (CPU: processor) 11 , memory 12 serving as a temporary storage region, a non-volatile storage section 13 , an input section 14 , a display section 15 , a medium read/write device (R/W) 16 , and a communication interface (I/F) 18 .
  • the CPU 11 , the memory 12 , the storage section 13 , the input section 14 configured by a keyboard, mouse, and the like, the display section 15 configured by a liquid crystal display or the like, the R/W 16 and the communication I/F 18 are connected together through a bus B 1 .
  • the storage section 13 is implemented by a hard disk drive (HDD), a solid state drive (SSD), flash memory, or the like.
  • the storage section 13 serves as a storage medium, and stores a remote operation program 13 A and a communication quality information database 13 B.
  • the remote operation program 13 A is a program to execute supply processing to supply various information to the remote operation target vehicle M 1 , and various instruction processing that enables the corresponding remote operation station N to perform remote operation of the remote operation target vehicle M 1 .
  • the communication quality information database 13 B will be described in detail later.
  • the remote operation program 13 A is stored in the storage section 13 by loading a recording medium on which the remote operation program 13 A is written into the R/W 16 , and the R/W 16 reading the remote operation program 13 A from the recording medium.
  • the CPU 11 reads the remote operation program 13 A from the storage section 13 , expands the remote operation program 13 A in the memory 12 , and executes processes of the remote operation program 13 A in sequence.
  • the R/W 16 reads information that has been written to non-illustrated recording media and writes information to such recording media.
  • the communication I/F 18 is an interface for communication with the vehicles M and the remote operation stations N, and employs a protocol such as Ethernet (registered trademark), a fiber distributed data interface (FDDI), or Wi-Fi (registered trademark).
  • the communication I/F 18 is connected to the network 70 .
  • the communication I/F 18 has a function of communicating with the plural vehicles M and the plural remote operation stations N. Namely, various information transmitted from communication I/Fs 28 of the vehicles M and various information transmitted from communication I/Fs 38 of the remote operation stations N are received by the communication I/F 18 .
  • Each of the vehicles M includes a communication device (communication I/F 28 ) that receives remote operation information created by the corresponding remote operation station N, and drive devices 29 C that are operated based on the remote operation information.
  • the remote operation information is created as information based on position information and communication quality information acquired from the plural information acquisition vehicles M 2 on a regular basis, in order to set a route linking together positions having a communication quality of a predetermined value or greater as a travel route.
  • the communication I/F 28 , the drive devices 29 C, the position information, and the communication quality information will be described in detail later.
  • the vehicle controller device 20 includes a central processing unit (CPU: processor) 21 , memory 22 serving as a temporary storage region, a non-volatile storage section 23 , an input section 24 , a display section 25 , a medium read/write device (R/W) 26 , the communication interface (I/F) 28 , and an output/input interface (I/F) 29 .
  • the CPU 21 , the memory 22 , the storage section 23 , the input section 24 , the display section 25 , the R/W 26 , the communication I/F 28 , and the output/input I/F 29 are connected together through a bus B 2 .
  • the storage section 23 is implemented by a hard disk drive (HDD), a solid state drive (SSD), flash memory, or the like.
  • the storage section 23 serves as a storage medium and stores a vehicle control program 23 A.
  • the vehicle control program 23 A is a program to execute various processing in the vehicle controller device 20 accompanying the execution of processes of the remote operation program 13 A of the central server 10 described above.
  • the vehicle control program 23 A is stored in the storage section 23 by loading a recording medium to which the vehicle control program 23 A is written into the R/W 26 , and the R/W 26 reading the vehicle control program 23 A from the recording medium.
  • the CPU 21 reads the vehicle control program 23 A from the storage section 23 , expands the vehicle control program 23 A in the memory 22 , and executes processes of the vehicle control program 23 A in sequence.
  • the input section 24 and the display section 25 are configured including a non-illustrated liquid crystal display configured by a touch panel provided on a center console or dashboard of the vehicle M.
  • the display section 25 is capable of displaying position-specific communication quality information and route information, described later.
  • the route information includes a “communication-prioritized route” representing a route linking together positions having a communication quality of a predetermined value or greater.
  • Another example of the route information is a “time-prioritized route” representing a route having a shorter journey time to a destination than the communication-prioritized route.
  • the display section 25 is also capable of displaying for example predetermined countermeasure information to enable stable travel to be maintained at positions where the communication quality is below a predetermined value.
  • the input section 24 serves as an input device, and enables input of a selected route (namely, either a communication-prioritized route or a time-prioritized route).
  • the input section 24 also enables input of a predetermined countermeasure to enable stable travel to be maintained at positions where the communication quality is below the predetermined value.
  • the R/W 26 reads information that has been written to non-illustrated recording media, and writes information to such recording media.
  • the communication I/F 28 is an interface (communication device) for communicating with other vehicles M, an external server, and the like, and employs a protocol such as Ethernet (registered trademark), an FDDI, or Wi-Fi (registered trademark).
  • the communication I/F 28 is connected to the network 70 .
  • the communication I/F 28 has a function of communicating with the central server 10 . Namely, various information transmitted from the communication I/F 18 of the central server 10 is received by the communication I/F 28 .
  • the output/input I/F 29 is an interface for communication with various devices installed in the vehicle M.
  • a GPS device 29 A, a communication quality sensor 29 B, and the drive devices 29 C are connected to the vehicle controller device 20 of the present exemplary embodiment through the output/input I/F 29 .
  • GPS device 29 A the communication quality sensor 29 B, and the drive devices 29 C may be directly connected to the bus B 2 .
  • these devices may be connected through a controller area network (CAN), or may be connected through various electronic control units (ECUs) or gateway ECUs.
  • ECUs electronice control units
  • a camera that captures images over a predetermined range
  • a millimeter-wave radar that transmits search waves over a predetermined range
  • light detection and ranging/laser imaging detection and ranging LIDAR
  • scans over a predetermined range and the like are also connected to the vehicle controller device 20 through the output/input I/F 29 .
  • the GPS device 29 A has a function of measuring current position coordinates of the vehicle M based on radio waves from global positioning system (GPS) satellites. Namely, position coordinates measured by the GPS device 29 A serve as “position information” of the vehicle M in the vehicle controller device 20 .
  • GPS global positioning system
  • the communication quality sensor 29 B is a sensor used to measure the communication quality between the communication I/F 28 and the central server 10 (network 70 ).
  • Equipment capable of measuring communication quality is selected as appropriate according to the communication protocol employed by the communication I/F 28 (for example Ethernet (registered trademark), an FDDI, Wi-Fi (registered trademark) or the like, as described above).
  • the drive devices 29 C are configured including a steering actuator, an acceleration actuator, and a brake actuator, none of which are illustrated in the drawings.
  • the steering actuator steers front wheels of the vehicle M.
  • the acceleration actuator controls a travel motor of the vehicle M to cause the vehicle M to accelerate or decelerate.
  • the brake actuator controls brakes of the vehicle M to cause the vehicle M to decelerate.
  • the remote operation station controller device 30 includes a central processing unit (CPU: processor) 31 , memory 32 serving as a temporary storage region, a non-volatile storage section 33 , an input section 34 , a display section 35 , a medium read/write device (R/W) 36 , the communication interface (I/F) 38 , and an output/input interface (I/F) 39 .
  • the CPU 31 , the memory 32 , the storage section 33 , the input section 34 , the display section 35 , the R/W 36 , the communication I/F 38 , and the output/input I/F 39 are connected together through a bus B 3 .
  • the storage section 33 is implemented by a hard disk drive (HDD), a solid state drive (SSD), flash memory, or the like.
  • the storage section 33 serves as a storage medium and stores a remote operation station control program 33 A.
  • the remote operation station control program 33 A is a program to execute various processing in the remote operation station controller device 30 accompanying the execution of processes of the remote operation program 13 A of the central server 10 described above.
  • the remote operation station control program 33 A is stored in the storage section 33 by loading a recording medium on which the remote operation station control program 33 A is written into the R/W 36 , and the R/W 36 reading the remote operation station control program 33 A from the recording medium.
  • the CPU 31 reads the remote operation station control program 33 A from the storage section 33 , expands the remote operation station control program 33 A in the memory 32 , and executes processes of the remote operation station control program 33 A in sequence.
  • the input section 34 and the display section 35 are configured including a non-illustrated liquid crystal display configured by a non-illustrated touch panel provided on a center console or dashboard simulating a generic vehicle.
  • the display section 35 includes a non-illustrated head-up display.
  • the head-up display performs real-time display of captured images captured by the camera provided to the vehicle controller device 20 of the remote operation target vehicle M 1 .
  • the remote operation target vehicle M 1 is a remote operation target vehicle that has been associated with the remote operation station N in response to an instruction from the central server 10 .
  • a user (remote operator) operating the remote operation station N is thus capable of experiencing spatial perception substantially equivalent to that of an occupant sitting in a driver's seat of the remote operation target vehicle M 1 (namely, spatial perception relating to an outdoor space around the remote operation target vehicle M 1 ).
  • the R/W 36 reads information that has been written to non-illustrated recording media, and writes information to such recording media.
  • the communication I/F 38 is an interface for communication with the vehicles M, an external server, and the like, and employs a protocol such as Ethernet (registered trademark), an FDDI, or Wi-Fi (registered trademark).
  • the communication I/F 38 is connected to the network 70 .
  • the communication I/F 38 has a function of communicating with the central server 10 . Namely, various information transmitted from the communication I/F 18 of the central server 10 is received by the communication I/F 38 .
  • the output/input I/F 39 is an interface for communicating with various devices installed in the remote operation station N.
  • Remote operation devices 39 A are connected to the remote operation station controller device 30 of the present exemplary embodiment through the output/input I/F 39 .
  • the remote operation devices 39 A may be directly connected to the bus B 3 .
  • the remote operation devices 39 A may be connected through a controller area network (CAN), or may be connected through ECUs or gateway ECUs.
  • CAN controller area network
  • the remote operation devices 39 A are configured including a steering operation device, an accelerator operation device, a brake operation device, and the like, none of which are illustrated in the drawings.
  • the steering operation device performs proxy steering of the front wheels of the remote operation target vehicle M 1 that has been associated with the remote operation station N in response to an instruction from the central server 10 .
  • the accelerator operation device causes the remote operation target vehicle M 1 to accelerate or decelerate by performing proxy control of the non-illustrated travel motor of the remote operation target vehicle M 1 .
  • the brake operation device causes the remote operation target vehicle M 1 to decelerate by performing proxy control of the brakes of the remote operation target vehicle M 1 .
  • operation of the remote operation devices 39 A does not directly operate the drive devices 29 C of the remote operation target vehicle M 1 .
  • the user operating the remote operation station N performs proxy operation of the remote operation devices 39 A as described above such that operation amounts (physical quantities) are transmitted to the remote operation target vehicle M 1 through the central server 10 as “remote operation information”. Operation amounts of the drive devices 29 C are determined in response to this remote operation information.
  • the central server 10 includes an acquisition section 11 A, a creation section 11 B, a supply section 11 C, and an instruction section 11 D.
  • the CPU 11 (see FIG. 1 ) of the central server 10 functions as the acquisition section 11 A, the creation section 11 B, the supply section 11 C, and the instruction section 11 D by executing the remote operation program 13 A (see FIG. 1 ).
  • the acquisition section 11 A acquires the position information and communication quality information from the plural vehicles M (see FIG. 1 ) on a regular basis.
  • the acquisition section 11 A also acquires drive mode information, indicating whether the remote operation target vehicle M 1 is set to remotely operated driving or manual driving, from the remote operation target vehicle M 1 .
  • the acquisition section 11 A of the present exemplary embodiment is configured including a position information acquisition section 11 AA, a communication quality information acquisition section 11 AB, a selected route information acquisition section 11 AC, a countermeasure information acquisition section 11 AD, a remote operation information acquisition section 11 AE, and a drive mode information acquisition section 11 AF.
  • the position information acquisition section 11 AA acquires “position information”, indicating the positions measured by the GPS device 29 A (see FIG. 1 ) provided to each of the plural vehicles M, from the plural vehicles M on a regular basis (at predetermined intervals, for example every 10 seconds).
  • the communication quality information acquisition section 11 AB acquires “communication quality information”, indicating the communication quality measured by the communication quality sensor 29 B (see FIG. 1 ) provided to each of the plural vehicles M, from the plural vehicles M on a regular basis (in other words, at predetermined intervals, for example every 10 seconds). Note that the position information and the communication quality information are acquired at substantially the same timing as each other.
  • the selected route information acquisition section 11 AC acquires current location information acquired by the GPS device 29 A of the remote operation target vehicle M 1 , and destination information as specified by an occupant of the remote operation target vehicle M 1 using the input section 24 (see FIG. 1 ), from the remote operation target vehicle M 1 .
  • the selected route information acquisition section 11 AC acquires “selected route information”, indicating a selected route selected by the occupant of the remote operation target vehicle M 1 from out of plural “route information” items created by a route information creation section 11 BB, described later, from the remote operation target vehicle M 1 .
  • the countermeasure information acquisition section 11 AD acquires “countermeasure information”, indicating a countermeasure selected by the occupant of the remote operation target vehicle M 1 , from the remote operation target vehicle M 1 .
  • the “countermeasure” refers to a predetermined method for maintaining stable travel at positions where the communication quality is below the predetermined value.
  • the countermeasure is a method for maintaining stable travel in cases in which the remote operation target vehicle M 1 passes through a position where the communication quality between the remote operation target vehicle M 1 and the central server 10 (network 70 ) is below the predetermined value when traveling by remote operation.
  • At least one mode out of “switch communication type” and “switch to manual driving” is selected as the countermeasure.
  • Switching the communication type enables communication quality to be maintained.
  • switching from remotely operated driving to manual driving enables travel to continue even if communication cuts out.
  • Switching to manual driving and also switching communication type facilitates an earlier switch back to remotely operated driving, while continuing to travel by manual driving.
  • the communication types that can be switched between include the various communication protocols described above as being applicable as communication protocols employed by the communication I/F 28 , as well as communication protocols employed in cellphone networks and communication protocols employed in short-range wireless communication.
  • the remote operation information acquisition section 11 AE acquires “remote operation information” created by the corresponding remote operation station N from the remote operation station N on a constant basis (in other words at predetermined intervals, for example every 0.01 seconds) when the remote operation target vehicle M 1 is traveling by remote operation.
  • the drive mode information acquisition section 11 AF acquires “drive mode information”, indicating the drive mode (namely either remotely operated driving or manual driving) selected by the occupant of the remote operation target vehicle M 1 , from the remote operation target vehicle M 1 .
  • the creation section 11 B includes a communication information creation section 11 BA and the route information creation section 11 BB.
  • the communication information creation section 11 BA of the creation section 11 B creates “position-specific communication quality information” in which the position information and communication quality information are associated with each other.
  • the communication information creation section 11 BA creates a communication quality (position-specific communication quality information) for each position coordinate.
  • the position-specific communication quality information is created by associating the position information acquired by the position information acquisition section 11 AA with the communication quality information acquired by the communication quality information acquisition section 11 AB.
  • the position-specific communication quality information is recorded in the communication quality information database 13 B (see FIG. 1 ).
  • the route information creation section 11 BB Based on the position-specific communication quality information, the route information creation section 11 BB creates “communication-prioritized route information” representing a route linking together positions where the communication quality is the predetermined value or greater. The route information creation section 11 BB also creates “time-prioritized route information” representing a route having a shorter journey time to a destination than the communication-prioritized route.
  • the route information creation section 11 BB reads plural of the position-specific communication quality information items created by the communication information creation section 11 BA from the communication quality information database 13 B. Next, positions where the communication quality is the predetermined value or greater are extracted from the position-specific communication quality information.
  • the route information creation section 11 BB of the creation section 11 B also acquires the current location information and destination information of the remote operation target vehicle M 1 as acquired by the selected route information acquisition section 11 AC.
  • the route information creation section 11 BB then links together positions extracted as positions where the communication quality is the predetermined value or greater in a journey segment between the current location and the destination. A route joining the current location to the destination is thus created.
  • the route information creation section 11 BB creates a route where the communication quality is not expected to fall below the predetermined value between the current location and the destination of the remote operation target vehicle M 1 as the “communication-prioritized route”.
  • the communication-prioritized route is created by linking together positions extracted as positions where the communication quality is the predetermined value or greater. There are therefore cases in which the route created makes a diversion around a position where the communication quality is below the predetermined value. This could result in a longer journey than one that does not make a diversion around such a position, resulting in a longer journey time before reaching the destination.
  • the route information creation section 11 BB also creates the “time-prioritized route information” representing a route having a shorter journey time to the destination than the communication-prioritized route.
  • the time-prioritized route is, for example, a route that does not make a diversion around positions where the communication quality is below the predetermined value.
  • the time-prioritized route is the route enabling the remote operation target vehicle M 1 to move between the current location and the destination in the shortest amount of time (estimated time).
  • the time-prioritized route may be a route that makes a diversion around positions where the communication quality is below a predetermined value, but with the predetermined value of the communication quality that necessitates a diversion set lower than for the communication-prioritized route.
  • the time-prioritized route is a route having at least a shorter journey time to the destination than the communication-prioritized route.
  • route information the communication-prioritized route information and the time-prioritized route information are also collectively referred to as “route information”.
  • the supply section 11 C supplies position-specific communication quality information to the operator of the remote operation target vehicle M 1 . Specifically, the supply section 11 C supplies the position-specific communication quality information created by the creation section 11 B described above to the operator of the remote operation target vehicle M 1 .
  • the operator of the remote operation target vehicle M 1 refers to the operator operating the remote operation devices 39 A at the remote operation station N during remotely operated driving, and refers to the operator operating the drive devices 29 C, this being the occupant of the remote operation target vehicle M 1 , during manual driving.
  • the position-specific communication quality information supplied by the supply section 11 C is displayed on the display section 35 (see FIG. 1 ) of the remote operation station N or on the display section 25 (see FIG. 1 ) of the remote operation target vehicle M 1 .
  • the position-specific communication quality information may be displayed on the display section 25 as well as on the display section 35 during remotely operated driving.
  • the supply section 11 C also supplies communication-prioritized route information and time-prioritized route information to the occupant of the remote operation target vehicle M 1 . Specifically, the supply section 11 C supplies the communication-prioritized route information and the time-prioritized route information created by the creation section 11 B described above to the occupant of the remote operation target vehicle M 1 . Note that the occupant may be the operator.
  • the communication-prioritized route information and the time-prioritized route information supplied by the supply section 11 C is displayed on the display section 25 of the remote operation target vehicle M 1 . This enables the occupant of the remote operation target vehicle M 1 to select a travel route.
  • the instruction section 11 D is configured including a selected route instruction section 11 DA, an execution section 11 DB, and a remote operation instruction section 11 DC.
  • the selected route instruction section 11 DA of the instruction section 11 D instructs the corresponding remote operation station N of a selected route selected by the occupant of the remote operation target vehicle M 1 based on the communication-prioritized route information and the time-prioritized route information. Specifically, the selected route instruction section 11 DA transmits the selected route information acquired by the selected route information acquisition section 11 AC described above to the remote operation station N as instruction information during remotely operated driving. The selected route information transmitted by the selected route instruction section 11 DA is displayed on the display section 35 of the remote operation station N.
  • the selected route selected by the occupant of the remote operation target vehicle M 1 is displayed on the display section 25 of the remote operation target vehicle M 1 without the involvement of an instruction from the selected route instruction section 11 DA.
  • the plural “route information” items created by the route information creation section 11 BB may be supplied to the remote operation station N for the travel route to be selected using the remote operation station N (namely, the “selected route information” may be created by the remote operation station N).
  • the selected route is displayed on the display section 35 of the remote operation station N without the involvement of an instruction from the selected route instruction section 11 DA.
  • the execution section 11 DB of the instruction section 11 D executes a predetermined method to maintain stable travel at positions where the communication quality is below the predetermined value. Specifically, the execution section 11 DB executes the countermeasure acquired as the countermeasure information by the countermeasure information acquisition section 11 AD.
  • the countermeasure is executed during travel of the remote operation target vehicle M 1 by remote operation when passing through a position where the communication quality between the remote operation target vehicle M 1 and the central server 10 (network 70 ) is below the predetermined value.
  • the execution section 11 DB executes at least one countermeasure out of “switching communication type” or “switching to manual driving” as described above when passing through a position where the communication quality is below the predetermined value.
  • these countermeasures are also executed in journey segments of the travel route before and after the position where the communication quality is below the predetermined value (for example journey segments of 500 m before and after).
  • journey segments before and after a position where the communication quality is below the predetermined value are referred to as “adjacent journey segments”.
  • this journey segment is still referred to as a “position” where the communication quality is below the predetermined value.
  • the remote operation instruction section 11 DC of the instruction section 11 D transmits the remote operation information acquired by the remote operation information acquisition section 11 AE described above to the remote operation target vehicle M 1 on a constant basis (in other words at predetermined intervals, for example every 0.01 seconds) while the remote operation target vehicle M 1 is traveling by remote operation.
  • the central server 10 includes the remote operation information acquisition section 11 AE and the remote operation instruction section 11 DC in the present exemplary embodiment, the present disclosure is not limited to such an exemplary embodiment.
  • these sections may be omitted. If these sections are omitted, remote operation information is transmitted from the corresponding remote operation station N to the remote operation target vehicle M 1 without passing through the central server 10 .
  • the position information and communication quality information transmitted from the plural vehicles M to the central server 10 are recorded in association with each other in the communication quality information database 13 B illustrated in FIG. 3 .
  • the position information and the communication quality information are recorded together with their measurement time. Note that the position information is expressed in north latitude and east longitude in countries such as Japan, but may be expressed in south latitude and west longitude depending on the country or region.
  • the position information and the communication quality information are stored in blocks. These blocks correspond to areas of a map divided into a grid of squares of a predetermined size (for example 50 m ⁇ 50 m).
  • the remote operation processing illustrated in FIG. 4A and FIG. 4B is executed by the CPU 11 of the central server 10 executing the remote operation program 13 A in response to an execution instruction or the like given by the occupant of the remote operation target vehicle M 1 using the input section 24 .
  • the occupant of the remote operation target vehicle M 1 inputs a destination for the remote operation target vehicle M 1 when giving the execution instruction.
  • a sufficient number of the information acquisition vehicles M 2 are present between the current location of the remote operation target vehicle M 1 and its destination.
  • the individual drawing references are omitted when referring to the respective configurations illustrated in FIG. 1 to FIG. 3 , since it is understood that these configurations refer to FIG. 1 to FIG. 3 .
  • the drive mode information acquisition section 11 AF acquires the drive mode information transmitted from the remote operation target vehicle M 1 . Furthermore, the selected route information acquisition section 11 AC acquires the destination information transmitted from the remote operation target vehicle M 1 .
  • the position information acquisition section 11 AA acquires the position information transmitted from the information acquisition vehicles M 2 . Furthermore, the communication quality information acquisition section 11 AB acquires the communication quality information transmitted from the information acquisition vehicles M 2 .
  • the communication information creation section 11 BA creates the position-specific communication quality information in which the position information and the communication quality information are associated with each other.
  • the communication information creation section 11 BA stores the position-specific communication quality information in the communication quality information database 13 B.
  • the route information creation section 11 BB determines whether or not a predetermined volume or greater of the position-specific communication quality information has been stored. Processing transitions to step 210 when determination is affirmative at step 208 .
  • a predetermined volume or greater having been stored refers to a state in which at least one item of position-specific communication quality information has been stored for each of the plural blocks (see FIG. 3 ) present on a continuous travel route from the current location of the remote operation target vehicle M 1 to its destination. Processing returns to step 202 when determination is negative at step 208 , and the processing up to step 208 is repeated until determination becomes affirmative.
  • the route information creation section 11 BB creates the route information.
  • “communication-prioritized route information” and “time-prioritized route information” are created as the route information.
  • the communication-prioritized route and the time-prioritized route are not limited to a single route each, and two or more routes of each may be created.
  • the supply section 11 C supplies the position-specific communication quality information and the route information (communication-prioritized route information and time-prioritized route information) to the remote operation target vehicle M 1 .
  • the selected route information acquisition section 11 AC waits to acquire the selected route information from the remote operation target vehicle M 1 .
  • FIG. 5 illustrates an example of a route selection screen displayed on the display section 25 of the remote operation target vehicle M 1 .
  • the route selection screen illustrates roads that the vehicle is able to pass along.
  • the route selection screen also illustrates the position-specific communication quality information. Namely, locations on the roads where the communication quality is the predetermined value or greater are shaded. Locations where the communication quality is below the predetermined value are unshaded.
  • Communication-prioritized route information (a communication-prioritized route 1 and a communication-prioritized route 2 ) and time-prioritized route information (a time-prioritized route) are also displayed on the route selection screen.
  • the communication-prioritized route 1 and the communication-prioritized route 2 are created by linking together locations where the communication quality is the predetermined value or greater.
  • the journey time (estimated time) to the destination is displayed alongside route 1 and route 2 .
  • the time-prioritized route has a shorter journey time (estimated time) to the destination than the communication-prioritized route 1 and the communication-prioritized route 2 .
  • the time-prioritized route also includes locations R 1 , R 2 where the communication quality is below the predetermined value en-route.
  • the occupant of the remote operation target vehicle M 1 selects a desired route from the displayed route information. Specifically, the occupant specifies any one button out of a “COMMUNICATION-PRIORITIZED ROUTE 1 ” button 25 C, a “COMMUNICATION-PRIORITIZED ROUTE 2 ” button 25 D, or a “TIME-PRIORITIZED ROUTE” button 25 E on the display section 25 . In response, determination is affirmative at step 214 in FIG. 4A and processing transitions to step 216 .
  • the CPU 11 determines whether or not the selected route acquired at step 214 is the time-prioritized route. Processing transitions to step 218 in cases in which determination is affirmative at step 216 .
  • the CPU 11 waits to acquire countermeasure information.
  • the countermeasure information is selected by the occupant of the remote operation target vehicle M 1 from out of options displayed on the display section 25 when the occupant of the remote operation target vehicle M 1 has specified the “TIME-PRIORITIZED ROUTE” button 25 E.
  • the occupant of the remote operation target vehicle M 1 specifies the “TIME-PRIORITIZED ROUTE” button 25 E, for example the message surrounded by a dashed line in FIG. 5 is displayed on the display section 25 .
  • the text “PLEASE INSTRUCT COUNTERMEASURE” is displayed together with the two countermeasures: “1. SWITCH COMMUNICATION TYPE” and “2. SWITCH TO MANUAL DRIVING”. Determination is affirmative at step 218 in FIG. 4A and processing transitions to step 220 in FIG. 4B in response to the occupant of the remote operation target vehicle M 1 specifying one of these options.
  • the CPU 11 determines the drive mode of the remote operation target vehicle M 1 acquired at step 200 . Processing transitions to step 222 in cases in which the drive mode is determined to be remotely operated driving.
  • the selected route instruction section 11 DA instructs the remote operation station N of the selected route acquired at step 214 .
  • the selected route is displayed on the display section 35 of the remote operation station N as illustrated in FIG. 6 .
  • the CPU 11 assigns a single remote operation station N to a single remote operation target vehicle M 1 based on predetermined assignation criteria.
  • the predetermined assignation criteria may be set as appropriate, and may include the communication quality, the driving experience level of the operator of the remote operation station N, and so on.
  • the position information acquisition section 11 AA acquires the position information transmitted from the information acquisition vehicles M 2 . Furthermore, the communication quality information acquisition section 11 AB acquires the communication quality information transmitted from the information acquisition vehicles M 2 . Furthermore, the selected route information acquisition section 11 AC acquires the current location information of the remote operation target vehicle M 1 transmitted from the remote operation target vehicle M 1 . The position information, communication quality information, and current location information of the remote operation target vehicle M 1 are acquired on a regular basis.
  • the CPU 11 determines whether or not the remote operation target vehicle M 1 is approaching a position where the communication quality is below the predetermined value (whether or not the remote operation target vehicle M 1 is positioned in an adjacent journey segment as described above). Processing transitions to step 228 in cases in which determination is affirmative at step 226 . On the other hand, processing returns to step 224 in cases in which determination is negative at step 226 .
  • the execution section 11 DB determines the countermeasure acquired at step 218 . Processing transitions to step 230 in cases in which the countermeasure is determined to be “switch communication type”, and at step 230 the execution section 11 DB switches the communication type. Processing transitions to step 242 following step 230 .
  • processing transitions to step 232 in cases in which the countermeasure is determined to be “switch to manual driving” at step 228 .
  • the execution section 11 DB transmits an instruction to the remote operation target vehicle M 1 to switch to manual driving. Furthermore, the selected route instruction section 11 DA instructs the remote operation target vehicle M 1 of the selected route acquired at step 214 .
  • the selected route is displayed on the display section 25 of the remote operation target vehicle M 1 similarly to the selected route on the display section 35 illustrated in FIG. 6 .
  • the occupant of the remote operation target vehicle M 1 then operates the drive devices 29 C in response to the switch instruction.
  • the CPU 11 determines whether or not the drive mode information acquisition section 11 AF has received an instruction to switch to remotely operated driving. Processing transitions to step 236 in cases in which determination is affirmative at step 234 .
  • step 236 the CPU 11 determines whether or not the remote operation target vehicle M 1 is at a position where the communication quality is the predetermined value or greater. Processing transitions to step 238 in cases in which determination is affirmative at step 236 . On the other hand, processing returns to step 234 in cases in which determination is negative at step 236 .
  • step 238 the CPU 11 instructs the remote operation station N to switch to remotely operated driving.
  • the processing of step 222 onward is repeated following step 238 .
  • processing transitions to step 240 in cases in which the drive mode is determined to be manual driving at step 220 .
  • the selected route instruction section 11 DA instructs the remote operation target vehicle M 1 of the selected route acquired at step 214 .
  • the selected route is displayed on the display section 25 of the remote operation target vehicle M 1 similarly to the selected route on the display section 35 illustrated in FIG. 6 . Processing transitions to step 234 following step 240 .
  • the CPU 11 determines whether or not a remote operation processing end timing has been reached.
  • the remote operation processing is ended when determination is affirmative at step 242 .
  • the end timing is reached when the remote operation target vehicle M 1 arrives at its destination.
  • the end timing is reached when the occupant of the remote operation target vehicle M 1 uses the input section 24 to perform input to end the remote operation processing.
  • the CPU 11 repeats the processing from step 224 until the remote operation processing end timing is reached.
  • step 244 Processing transitions to step 244 in cases in which determination is negative at step 216 in FIG. 4A , i.e. in cases in which the selected route acquired at step 214 is determined to be a communication-prioritized route.
  • the CPU 11 determines the drive mode of the remote operation target vehicle M 1 acquired at step 200 . Processing transitions to step 246 in cases in which the drive mode is determined to be remotely operated driving.
  • the selected route instruction section 11 DA instructs the remote operation station N of the selected route acquired at step 214 .
  • the selected route is displayed on the display section 35 of the remote operation station N as illustrated in FIG. 7 .
  • processing transitions to step 248 in cases in which the drive mode is determined to be manual driving at step 244 .
  • the selected route instruction section 11 DA instructs the remote operation target vehicle M 1 of the selected route acquired at step 214 .
  • the selected route is displayed on the display section 25 of the remote operation target vehicle M 1 similarly to the selected route on the display section 35 illustrated in FIG. 7 .
  • the position information acquisition section 11 AA acquires the position information transmitted from the information acquisition vehicles M 2 . Furthermore, the communication quality information acquisition section 11 AB acquires the communication quality information transmitted from the information acquisition vehicles M 2 . Furthermore, the selected route information acquisition section 11 AC acquires the current location information of the remote operation target vehicle M 1 transmitted from the remote operation target vehicle M 1 . The position information, communication quality information, and current location information of the remote operation target vehicle M 1 are acquired on a regular basis.
  • the CPU 11 determines whether or not a position where the communication quality is below the predetermined value is present on the selected route (namely, between the current location of the remote operation target vehicle M 1 and its destination). Processing transitions to step 254 in cases in which determination is affirmative at step 252 . On the other hand, processing transitions to step 256 without executing the processing of step 254 in cases in which determination is negative at step 252 .
  • the CPU 11 performs rerouting. Namely, rerouting is performed by the CPU 11 executing processing to automatically select a diversion route avoiding the position on the selected route where the communication quality is below the predetermined value that is also a route linking together locations where the communication quality is the predetermined value or greater, and is also the route capable of merging with the selected route in the shortest distance (the route having the shortest journey time).
  • the CPU 11 determines whether or not a remote operation processing end timing has been reached.
  • the remote operation processing is ended as illustrated in FIG. 4B when determination is affirmative at step 256 .
  • the end timing is reached when the remote operation target vehicle M 1 arrives at its destination.
  • the end timing is reached when the occupant of the remote operation target vehicle M 1 uses the input section 24 to perform input to end the remote operation processing.
  • step 250 onward is repeated until the remote operation processing end timing is reached.
  • the remote operation system 80 supplies the operator of the remote operation target vehicle M 1 (the operator of the drive devices 29 C of the remote operation target vehicle M 1 or the operator of the remote operation devices 39 A of the remote operation station N) with the position-specific communication quality information in which the position information and communication quality information of each of the plural vehicles (information acquisition vehicles M 2 ) are associated with each other.
  • the position-specific communication quality information is created based on the position information and the communication quality information that are acquired “on a regular basis”. The information is thus newer and more reliable than when position-specific communication quality information is held by a system in advance.
  • the operator of the remote operation target vehicle M 1 is thus capable of more accurately perceiving positions where communication quality is high and positions where communication quality is low. This enables the operator to remotely operate the remote operation target vehicle M 1 so as to avoid positions where communication quality is low. The remote operation target vehicle M 1 can thus be made to travel so as to avoid positions where communication quality is low.
  • the supply section 11 C supplies the operator with the route information linking together positions where the communication quality is the predetermined value or greater, as well as the position-specific communication quality information.
  • the operator can select a route with high communication quality more easily than in cases in which the operator is not supplied with route information. This increases the ease with which the remote operation target vehicle M 1 is made to travel so as to avoid positions where communication quality is low.
  • the position-specific communication quality information can be supplied to the occupant of the remote operation target vehicle M 1 .
  • This increases the ease with which the remote operation target vehicle M 1 can be made to travel so as to avoid positions where communication quality is low during manual driving also. This also facilitates switching to remotely operated driving at a desired timing.
  • the drive devices 29 C are operated based on the remote operation information received by a communication device (the communication I/F 28 ).
  • a route linking together positions where the communication quality is the predetermined value or greater is created as a travel route in the remote operation information, based on the position information and the communication quality information acquired from the plural information acquisition vehicles M 2 . This enables the remote operation target vehicle M 1 to be made to travel so as to avoid positions where communication quality is low.
  • the remote operation information is created based on the position information and the communication quality information acquired from the plural information acquisition vehicles M 2 “on a regular basis”.
  • the information is thus newer and more reliable than when position-specific communication quality information is held by a system in advance. This increases the ease with which the remote operation target vehicle M 1 can be made to travel so as to avoid positions where communication quality is low.
  • the occupant of the remote operation target vehicle M 1 is supplied with communication-prioritized route information representing a route linking together positions where the communication quality is the predetermined value or greater.
  • Time-prioritized route information representing a route having a shorter journey time to the destination is also supplied.
  • the occupant selects a route based on any one route information item.
  • the remote operation station is instructed of the selected route information thus selected through the selected route instruction section 11 DA.
  • the execution section 11 DB acts as an execution section to execute the predetermined countermeasure so as to enable stable travel to be maintained.
  • the remote operation system 80 enables the execution section 11 DB to switch the communication type in cases in which the remote operation target vehicle travels through a position where the communication quality is below the predetermined value. Namely, stable travel can be maintained by switching to a communication type capable of securing communication quality.
  • the execution section 11 DB is capable of switching to manual driving in cases in which the remote operation target vehicle M 1 travels through a position where the communication quality is below the predetermined value. This enables stable travel to be secured even if communication cuts out.
  • the drive devices 29 C are operated based on the remote operation information received by the communication device (communication I/F 28 ). Moreover, a predetermined countermeasure, capable of maintaining stable travel in cases in which the remote operation target vehicle M 1 travels through a position where the communication quality is below the predetermined value, can be selected using the input device (input section 24 ).
  • the route information is displayed on the display section 25 of the remote operation target vehicle M 1 or on the remote operation station N.
  • route information may be conveyed to the occupant of the remote operation target vehicle M 1 or to the operator of the remote operation station N using audio only, without being displayed.
  • there is no need to input the selected route information using the input section 24 and for example audio input may be performed.
  • the route information creation section 11 BB creates route information linking together positions where the communication quality is the predetermined value or greater as the “communication-prioritized route”.
  • the route information creation section 11 BB may create route information for a route having stable communication quality as a “communication stability-prioritized route” in addition to or instead of the communication-prioritized route.
  • Such a communication stability-prioritized route is a route linking together positions where the communication quality is “continuously” maintained at a predetermined value or greater. “Continuously” refers to a predetermined timespan or longer (for example one hour or longer).
  • the occupant of the remote operation target vehicle M 1 is supplied with both the position-specific communication quality information and the route information during manual driving.
  • the present disclosure is not limited to such an exemplary embodiment.
  • configuration may be made in which none of this information is supplied during manual driving. This enables stable travel to be secured even in cases in which the communication quality becomes low during manual driving.
  • At least one out of switching the communication type and switching to manual driving is selected as the countermeasure.
  • the present disclosure is not limited to such an exemplary embodiment.
  • either one out of switching the communication type or switching to manual driving may be set as the countermeasure.
  • the hardware structure of a processing unit that executes the respective processing of the acquisition section 11 A, the creation section 11 B, the supply section 11 C, and the instruction section 11 D may for example employ the following processors.
  • processors include not only CPUs, these being generic processors that execute software (programs) as described above to function as a processing section, but also programmable logic devices (PLDs), these being processors such as field-programmable gate arrays (FPGAs) that have a circuit configuration that can be modified following manufacture, or dedicated electrical circuits, these being processors such as application specific integrated circuits (ASICs) that have a custom designed circuit configuration to execute specific processing.
  • the respective processing sections may be configured by one type of these processors, or may be configured by a combination of two or more processors of the same type or different types to each other (for example a combination of plural FPGAs, or a combination of a CPU and an FPGA).
  • a processing section may also be configured by a single processor.
  • a first example of a processing section configured by a single processor is a case in which a single processor configured by combining software with one or more CPUs functions as a processing section, as exemplified by a client or server computer.
  • a second example is a case in which a processor is employed to implement the functionality of an entire system, encompassing processing sections, by the use of a single integrated circuit (IC) chip, as exemplified by a system on chip (SoC) or the like.
  • the processing sections are configured by a hardware structure employing one or more of the processors described above.
  • a more specific example of a hardware structure of these various processors may employ electric circuitry combining circuit elements such as semiconductor elements.
  • the present disclosure may be implemented in various ways.

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